Motion prediction control device and method

Patent metadata

Field	Value
Publication number	US-9108321-B2
Application number	US-201314078342-A
Country	US
Kind code	B2
Filing date	Nov 12, 2013
Priority date	May 12, 2011
Publication date	Aug 18, 2015
Grant date	Aug 18, 2015

Abstract

(A) One or both of an object and a robot are measured by measuring units to acquire sensor information. (B) The internal state of one or both of the object and the robot is predicted and updated by a state estimation unit on the basis of the sensor information. (C) The internal state is stored by a data storage unit. (D) The robot is controlled by a robot control unit. At (B), the internal state is updated by the state estimation unit at an arbitrary timing that is independent of the control cycle of the robot. At (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at a control cycle on the basis of the latest internal state stored in the data storage unit.

First claim

The invention claimed is:

1. A motion prediction control device, comprising:
a measuring unit which acquires sensor information by measuring one or both of an object and a robot;
a state estimation unit which predicts and updates an internal state of one or both of the object and the robot on the basis of the sensor information;
a data storage unit which stores the internal state; and
a robot control unit which controls the robot,
wherein the state estimation unit updates…

Assignees

• Ihi Corp

Inventors

• Emoto Shuhei
• Hayashi Toshihiro
• Banno Hajime
• Fujii Masakazu
• Sonehara Mitsuharu

Classifications

• B25J5/007 Primary

  Operations & Transport · mapped topic

• B25J19/023

  Operations & Transport · mapped topic

• G05B2219/37436

  Physics · mapped topic

• G05B2219/32357

  Physics · mapped topic

• B25J9/1697

  Operations & Transport · mapped topic